Pedestrian tracking using inertial sensors

Raúl Feliz Alonso, Eduardo Zalama Casanova, Jaime Gómez García-Bermejo


A personal navigation system is proposed in the present paper. This system is based on the use of inertial sensors and will be a complement for the Global Positioning System in places where GPS signals are not available. Such places are indoors and outdoors without a clear visibility of the sky (urban canyons, places under dense foliage...). A known initial position is required for this method for it to be able to estimate the trajectory of the pedestrian using inertial sensors attached to the foot. The developed method and the approximations taken into account are explained. Finally, the results of several tests carried out are shown.


JoPhA; Inertial sensors; GPS; Odometry; MTi; IMU; INS